mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 21:11:12 +00:00
add 3d visualization
This commit is contained in:
zhangshixiang
@@ -0,0 +1,18 @@
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{
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"first_joint": {
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"child":"first_link",
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"axis" : "-y"
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},
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"second_joint": {
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"child":"second_link",
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"axis" : "-x"
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},
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"third_joint": {
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"child":"third_link",
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"axis" : "-z"
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},
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"fourth_joint": {
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"child":"fourth_link",
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"axis" : "-z"
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}
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}
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@@ -0,0 +1,210 @@
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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="opentrons_liquid_handler"
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params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
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<parent link="${station_name}${device_name}${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<joint name="${station_name}${device_name}device_link_joint" type="fixed">
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<origin xyz="-0.31 0.28 0" rpy="0 0 0" />
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<parent link="${station_name}${device_name}device_link"/>
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<child link="${station_name}${device_name}main_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name='${station_name}${device_name}main_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}first_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}second_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}third_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}fourth_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name='${station_name}${device_name}first_joint' type='prismatic'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}first_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}second_joint' type='prismatic'>
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<parent link="${station_name}${device_name}first_link"/>
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<child link="${station_name}${device_name}second_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="-1 0 0"/>
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<limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}third_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}third_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}fourth_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeHEPAModule'/>
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<joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeHEPAModule"/>
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<origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
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</joint>
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</xacro:macro>
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</robot>
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@@ -0,0 +1,10 @@
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{
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"private_param":
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{
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},
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"public_param":
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{
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}
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}
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6
unilabos/device_mesh/device/slide_w140/joint_config.json
Normal file
6
unilabos/device_mesh/device/slide_w140/joint_config.json
Normal file
@@ -0,0 +1,6 @@
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{
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"slider_joint": {
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"child":"slider",
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"axis" : "x"
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}
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}
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136
unilabos/device_mesh/device/slide_w140/macro_device.xacro
Normal file
136
unilabos/device_mesh/device/slide_w140/macro_device.xacro
Normal file
@@ -0,0 +1,136 @@
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<?xml version="1.0" ?>
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||||
<!-- =================================================================================== -->
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||||
<!-- | This document was autogenerated by xacro from slide.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
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||||
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||||
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||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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||||
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
|
||||
<parent link="${parent_link}"/>
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||||
<child link="${station_name}${device_name}device_link"/>
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||||
<axis xyz="0 0 0"/>
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||||
</joint>
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||||
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||||
<link name="${station_name}${device_name}device_link"/>
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||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="${-min_d} 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}base_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
|
||||
<mass value="0.88697"/>
|
||||
<inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="${station_name}${device_name}slider">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
|
||||
<mass value="0.27913"/>
|
||||
<inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}slider_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}slider"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="100" lower="0" upper="${length}" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}length">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
|
||||
<mass value="0.050532"/>
|
||||
<inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}length_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}length"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}slide_end">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
|
||||
<mass value="0.055452"/>
|
||||
<inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slide_end.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slide_end.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}slide_end_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}slide_end"/>
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.fbx
Normal file
Binary file not shown.
12
unilabos/device_mesh/device/slide_w140/param_config.json
Normal file
12
unilabos/device_mesh/device/slide_w140/param_config.json
Normal file
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"private_param":
|
||||
{
|
||||
"min_d": 0.1 ,
|
||||
"max_d": 0.1 ,
|
||||
"slider_d": 0.14
|
||||
},
|
||||
"public_param":
|
||||
{
|
||||
"length" :0.1
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user